• Proceedings of the KSME Conference
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• 2008.11a
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• pp.1588-1593
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• 2008

This paper describes a real-time isometric pinch force prediction algorithm from surface electromyogram (sEMG) using multilayer perceptron (MLP) for human robot interactive applications. The activities of seven muscles which are observable from surface electrodes and also related to the movements of the thumb and index finger joints were recorded during pinch force experiments. For the successful implementation of the real-time prediction algorithm, an off-line analysis was performed using the recorded activities. Four muscles were selected for the force prediction by using the Fisher linear discriminant analysis among seven muscles, and the four muscle activities provided effective information for mapping sEMG to the pinch force. The MLP structure was designed to make training efficient and to avoid both under- and over-fitting problems. The pinch force prediction algorithm was tested on five volunteers and the results were evaluated using two criteria: normalized root mean squared error (NRMSE) and correlation (CORR). The training time for the subjects was only 2 min 29 sec, but the prediction results were successful with NRMSE = 0.112 ${\pm}$ 0.082 and CORR = 0.932 ${\pm}$ 0.058. These results imply that the proposed algorithm is useful to measure the produced pinch force without force sensors in real-time. The possible applications include controlling bionic finger robot systems to overcome finger paralysis or amputation.

• Macromolecular Research
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• v.15 no.7
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• pp.610-616
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• 2007

We developed a coarse-grained force field and have extended it to polystyrene with longer chain length. A systematic method was introduced and was utilized to explain how the coarse-grained force field for polystyrene could be developed from the atomistic simulation in the paper. We elected to use polystyrene with different chain lengths of 20, 40 and 80 monomers in this study. In three cases, we utilized the same new mapping scheme. The coarse-grained force field does reproduce the bond, angle, and radial distribution of the atomistic model. The coarse-grained model proved successful, as shown by analyses of the static and dynamic properties of different chain lengths.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.19 no.7
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• pp.618-623
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• 2006

Hydrogenated Diamond-like carbon (DLC) films were prepared by the radio frequency plasma enhanced chemical vapor deposition (RF PECVD) method on silicon substrates using methane $(CH_4)$ and hydrogen $(H_2)$ gas. The wear track on the DLC films was examined after the ball-on disk (BOD) measurement with a Raman mapping method. The BOD measurement of the DLC films was performed for 1 to 3 hours with a 1-hour step time. The sliding traces on the hydrogenated DLC film after the BOD measurement were also observed using an optical microscope. The surface roughness and cross-sectional images of the wear track were obtained using an atomic force microscope (AFM). The novel Raman mapping method effectively shows the graphitization of DLC films of $300{\mu}m\times300{\mu}m$ area according to the sliding time by G-peak positions (intensities) and $I_D/I_G$ ratios.

• Steel and Composite Structures
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• v.44 no.4
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• pp.473-488
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• 2022

A high-speed railway (HSR) bridge may undergo long-term deformation due to the degradation of material stiffness, or foundation settlement during its service cycle. In this study, an analytical model is set up to evaluate the influence of this long-term vertical bridge deformation on the track geometry. By analyzing the structural characteristics of the HSR track-bridge system, the energy variational principle is applied to build the energy functionals for major components of the track-bridge system. By further taking into account the interlayer's force balancing requirements, the mapping relationship between the deformation of the track and the one of the bridge is established. In order to consider the different behaviors of the interlayers in compression and tension, an iterative method is introduced to update the mapping relationship. As for the validation of the proposed mapping model, a finite element model is created to compare the numerical results with the analytical results, which show a good agreement. Thereafter, the effects of the interlayer's different properties of tension and compression on the mapping deformations are further evaluated and discussed.

• 한국초전도학회:학술대회논문집
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• 2007.07a
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• pp.88-88
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• 2007

• Applied Chemistry for Engineering
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• v.17 no.4
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• pp.381-385
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• 2006

We applied a new analyzing technique for the polyurethane acrylate hybrid emulsion sample composed of polyurethane resin and acrylate resin using the phase-lag mapping techniques of atomic force microscopy. For the analysis, we synthesized similarly sized pure polyurethane dispersion and acrylate emulsion particles, which were used for measuring the standard phase-lag intensities for each material. Based on these signal intensity, we could discriminate acryl particle in the polyurethane dispersion matrix with the resolution of a few tens of nanometers. Thus, the techniques show a new possibility in the analysis of the organic two-phase particles, and we believe the techniques are helpful to design organic particles.

• Journal of the Korean Crystal Growth and Crystal Technology
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• v.17 no.2
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• pp.52-56
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• 2007

We have installed an ultra high vacuum (UHV) molecular beam epitaxy (MBE) system and investigated into the characteristics of MBE-grown ZnSe/GaAs [001] using scanning electron microscopy (SEM), atomic force microscopy (AFM), we confirmed that layer's surface was dense and uniform of molecular layer. We used x-ray diffractometer (XRD) and confirmed two peaks correspond to GaAs [001] substrate and ZnSe epilayer, respectively. We observed photoluminescence (PL) peak approximately at 437 nm and measured PL mapping of 2 inch ZnSe epilayer.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.743-746
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• 1996

A hybrid control scheme to regulate the force and position by dual arms is proposed, where two arms are treated as one arm in a kinematic viewpoint. Our approach is different from other hybrid control approaches which consider robot dynamics, in the sense that we employ a purely kinematic based approach for hybrid control, with regard to the nature of position-controlled industrial robots. The proposed scheme is applied to sawing task. In the sawing task, the trajectory of the saw grasped by dual arms is planned in an offline fashion. When the trajectory of the saw is planned to follow a line in a horizontal plane, 3 position parameters are to be controlled(i.e, two translational positions and one rotational position). And a certain level of contact force has to be controlled along the vertical direction(i.e., minus z-direction) not to loose the contact with the object to be sawn. Typical feature of sawing task is that the contact position where the force control is to be performed is continuously changing. Therefore, the kinematic mapping between the force controlled position and the joint actuators has to be updated continuously. The effectiveness of the proposed control scheme is experimentally demonstrated. The proposed hybrid control scheme can be applied to arbitrary dual arm systems, regardless of their kinematic structure and the number of actuated joints.

• Korean Journal of Materials Research
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• v.27 no.9
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• pp.484-488
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• 2017

In the present study, domain evolution processes of a near-morphotropic PZT ceramic during poling was studied using vertical piezoresponse force microscopy (PFM). To perform macroscopic poling in bulk polycrystalline PZT, poling was carried out in a stepwise fashion, and PFM scan was performed after unloading the electric field. To identify the crystallographic orientation and planes for the observed non-$180^{\circ}$ domain walls in the PFM images, compatibility theory and electron backscatter diffraction (EBSD) were used in conjunction with PFM. Accurate registration between PFM and the EBSD image quality map was carried out by mapping several grains on the sample surface. A herringbone-like domain pattern consisting of two sets of lamellae was observed; this structure evolved into a single set of lamellae during the stepwise poling process. The mechanism underlying the observed domain evolution process was interpreted as showing that the growth of lamellae is determined by the potential energy associated with polarization and an externally applied electric field.

• Transactions of the Korean Society of Automotive Engineers
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• v.12 no.1
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• pp.122-129
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• 2004

Finite element analysis was performed to analyze structural safety of a new heavy-duty direct injection diesel engine. A half section of the in-line 6-cylinder engine was selected as a computational domain. A mapping method was used to project heat transfer coefficients from CFD results of engine coolant flow onto the FE model. The accurate setting of thermal boundary condition on the FE model was expected to result in improved prediction of temperature, cylinder bore distortion, and stresses. Characteristics of high cycle fatigue were investigated by assuming the engine was operated under the following five loading conditions repeatedly; assembly force, assembly force with thermal loading, alternating maximum gas pressure loading at each cylinder combined with assembly force and thermal loading. Distribution of fatigue safety factor was calculated by using it Haigh diagram in which the maximum and the minimum stresses were selected from the five loading cases.